\chapter{Background Theory} % FIXME of Background Information/Terminology?
\label{ch:theory}

In this chapter, we will introduce a mathematical framework for robot
movement.  To do this, we will first introduce some common concepts in
robotics.  We assume that the reader has a basic understanding of linear
algebra.

\section{Robotics terminology}

\section{Rigid body movement}

\section{Forward and inverse kinematics}

\section{Coupling movements}
